Prediction-based hierarchical control framework for autonomous vehicles

• DOI: 10.1504/ijvas.2014.067867
• Publication Date: 2015-03-08T08:30:10Z
• Authors: Varun Jain; Thomas Weiskircher
• Keywords: Hierarchical control system

The predictive nature and the constraint handling capability of Model Predictive Controllers (MPC) makes it an appropriate choice for conceptualisation autonomous collision avoidance systems. Such systems aim to make road driving potentially safer more comfortable in future. This research work motivates development a hierarchical structure based on MPC vehicle dynamics control path planning scenarios up limits handling. proposed idea not only helps overcome main challenge concerned with real–time implementation MPC, but also adds modularity structure, whereby tasks can be tackled independently. easily extended driver assistance functions human loop. Simulation results ideal high fidelity models indicate effectiveness show effect different parameters overall performance.